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JP2004280646A - Operating system for automatic guided vehicle, operation management computer, and operation control method - Google Patents

Operating system for automatic guided vehicle, operation management computer, and operation control method Download PDF

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Publication number
JP2004280646A
JP2004280646A JP2003073307A JP2003073307A JP2004280646A JP 2004280646 A JP2004280646 A JP 2004280646A JP 2003073307 A JP2003073307 A JP 2003073307A JP 2003073307 A JP2003073307 A JP 2003073307A JP 2004280646 A JP2004280646 A JP 2004280646A
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Japan
Prior art keywords
guided vehicle
control unit
automatic guided
data
mobile terminal
Prior art date
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JP2003073307A
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Japanese (ja)
Inventor
Takeshi Asano
武志 朝野
Masahide Yoshihara
昌英 吉原
Yoichi Sugitomo
庸一 杉友
Hideaki Matsuoka
英明 松岡
Takahiro Yokomae
高広 横前
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Panasonic Holdings Corp
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Matsushita Electric Industrial Co Ltd
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Priority to JP2003073307A priority Critical patent/JP2004280646A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an operating system for an automatic guided vehicle which can perform every kind of operation such as giving a conveying instruction to the automatic guided vehicle on the spot wherever a worker is, has excellent working efficiency, and can reduce facility costs. <P>SOLUTION: The operating system for the automatic guided vehicle is equipped with the automatic guided vehicle 1 capable of automatically travelling and a service management computer 5 which has a service control unit 7 for performing service control of the automatic guided vehicle 1 by radio and a data management part 6 for storing service data. A portable terminal 9 for instruction operation to the automatic guided vehicle 1 is provided and the service management computer 5 is provided with a portable terminal control unit 11 for performing transmission and reception of the data with the portable terminal 9 by radio and exchanging data with the service control unit 7. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は、無人搬送車の運用システム、運用管理コンピュータ及び運用制御方法に関するものである。
【０００２】
【従来の技術】
従来の無人搬送車の運用システムは、無人搬送車の走行経路を規定する非軌道走行ラインを所望の経路に沿って配設し、無人搬送車の走行制御を行う運行管理コンピュータから出力された走行制御データを無線親局から無線で無人搬送車に伝達し、無人搬送車を走行制御するように構成されている。また、作業者が無人搬送車に対して走行指令を出す際の運行管理コンピュータに対する走行指令の入力は、運行管理コンピュータの入力部から直接、若しくは作業場の適当箇所に配設されるとともに運行管理コンピュータに信号線で接続された操作ターミナルから入力するように構成されている（例えば、特許文献１参照。）。
【０００３】
【特許文献１】
特開平１１−３２７６４４号公報
【０００４】
【発明が解決しようとする課題】
しかしながら、上記従来の無人搬送車の運用システムでは、無人搬送車により搬送を行う際には、作業者が操作ターミナルの設置場所まで行って操作する必要があって作業性が悪いという問題があった。また、操作ターミナルと管理コンピュータとの間を信号線で接続しているため、無人搬送車の走行範囲が広い場合には、各所に配設される操作ターミナルまでの配線作業が大掛かりとなり、設備コストが高くなり、また無人搬送車の搬送範囲を拡張しようとすると、大掛かりな作業が必要になるという問題があった。
【０００５】
なお、無線通信による携帯端末は知られているが、入出荷管理システムなどにおいて、作業者が現場において管理コンピュータとの間で入出荷データの入出力を行う入出力端末で、データの入出力に限定されたものであり、動作指令などを行う操作用端末として構成されたものではなく、上記問題を解決するためにそのまま適用できるものではない。
【０００６】
本発明は、上記従来の問題点に鑑み、作業者が何処にいてもその場で無人搬送車に対する搬送指令などの各種操作を行うことができて作業性が良く、かつ設備コストの低廉化を図ることができる無人搬送車の運用システム、運用管理コンピュータ及び運用制御方法を提供することを目的とする。
【０００７】
【課題を解決するための手段】
本発明の無人搬送車の運用システムは、自動走行可能な無人搬送車と、無人搬送車を無線で運行制御する運行制御部とその運行データを管理するデータ管理部とを有する運行管理コンピュータとを備えた無人搬送車の運用システムにおいて、無人搬送車に対する指令操作用の携帯端末を設け、携帯端末と無線でデータの送受信を行うとともに運行制御部との間でデータのやりとりを行う携帯端末制御部を運行管理コンピュータに設けたものである。
【０００８】
この構成によると、作業者が何処にいてもその場で携帯端末から無人搬送車に対する搬送指令などの各種操作を行うことができ、作業能率を大幅に向上でき、かつ操作ターミナルを各所に設置して配線する必要がないので、無人搬送車の走行範囲が広い場合などに、特に設備コストの低廉化を図ることができる。
【０００９】
また、携帯端末にて無人搬送車に対する搬送指令を携帯端末制御部に出力すると、携帯端末制御部の指令によりデータ管理部から運行制御部に運行データを出力するように構成すると、作業者が何時でも何処でも無人搬送車に対する搬送指令を出すことができ、使い勝手が良く、作業性が向上する。
【００１０】
また、運行制御部は無人搬送車の動作状態のデータを収集しており、携帯端末にて無人搬送車の動作状態の確認を携帯端末制御部に出力すると、携帯端末制御部が運行制御部から動作状態のデータを読み出して携帯端末に表示するように構成すると、作業者が何時でも何処でも現在の動作状態を手元で知ることができて、使い勝手が良い。
【００１１】
また、データ管理部は無人搬送車への要求テータとその処理状態を管理しており、携帯端末にて無人搬送車で処理されていない要求状態の確認を携帯端末制御部に出力すると、携帯端末制御部がデータ管理部から未処理状態のデータを読み出して携帯端末に表示するように構成すると、作業者が何時でも何処でも現在の要求状態を手元で知ることができて、使い勝手が良い。
【００１２】
また、無人搬送車にトラブルが発生すると、運行制御部から携帯端末制御部にトラブル発生の事実とそのデータを出力し、携帯端末に表示するように構成すると、作業者が何処にいてもトラブル発生を直ちに知ることができ、さらにリセット操作で解消できるような簡単なトラブルの場合にはその場でトラブルを解消することができ、使い勝手が良く、作業能率が向上する。
【００１３】
また、運行制御部は、無人搬送車が搬送動作を終了すると、原点位置に復帰させることなく、次の搬送指示を実行させるように構成すると、無人搬送車の稼働効率が向上する。
【００１４】
また、携帯端末に、搬送する物品に設けられた識別被読取部を読み取る読取手段を設け、携帯端末から読取データを携帯端末制御部に送信することで運行管理コンピュータがデータ管理部を参照して無人搬送車の搬送先を運行制御部に指示するように構成すると、入力操作を簡便にできて、一層作業能率を向上できる。
【００１５】
また、本発明の無人搬送車の運用管理コンピュータは、自動走行可能な無人搬送車を無線で運行制御する運行制御部と、その運行データを管理するデータ管理部と、無人搬送車に対する指令操作用の携帯端末と無線でデータの送受信を行うとともに運行制御部との間でデータのやりとりを行う携帯端末制御部とを備えたものであり、上記のように無人搬送車を運用でき、その効果を奏することができる。
【００１６】
また、本発明の無人搬送車の運用制御方法は、携帯端末と携帯端末制御部との間で無人搬送車の動作に関するデータの送受信を無線で行い、携帯端末制御部と無人搬送車の運行データを管理するデータ管理部と無人搬送車を運行制御する運行制御部との間でデータのやりとりを行い、運行制御部にて無線で無人搬送車を運行制御するものであり、上記効果を奏することができる。
【００１７】
【発明の実施の形態】
以下、本発明の一実施形態の無人搬送車の運行システムについて、図１〜図３を参照して説明する。
【００１８】
図１において、１は無人搬送車で、非軌道走行ライン２に沿って自動走行可能に構成されている。３は走行ライン２に設けられた各種ステーションで、無人搬送車１で搬送される物品を授受する。４は無人搬送車１に対して充電を行う自動充電器である。
【００１９】
５は管理コンピュータであり、所定のプログラムに基づいてデータベース（データ管理部）６に無人搬送車１を運行させるための運行データを含む各種データを格納するとともに格納されたデータを参照して無人搬送車１の運行制御及び運行管理を行うように構成されている。管理コンピュータ５内には、各種動作指令に基づいて無人搬送車１に具体的な動作指令信号を出力する運行制御部７が設けられ、その指令信号がＡＧＶ用無線親局８にて無線信号に変換されて出力され、無人搬送車１が受信した無線信号に基づいて動作することで、無人搬送車１が所定位置に走行し、所定位置で搭載物品の移載が行われる。また、その動作状態の検出信号がＡＧＶ用無線親局８を介して運行制御部７に入力され、適正な動作が確保される。また、運行制御部７は、無人搬送車１が搬送動作を終了すると、原点位置に復帰させることなく、次の搬送指示を実行させるように構成されている。
【００２０】
無人搬送車１に対する動作指令や動作状態の確認等を求める指示を管理コンピュータ５に対して入力する作業を任意の場所で行うことができるように、作業者が携帯可能な携帯端末９が設けられている。この携帯端末９は無線で接続された携帯端末用基地局１０を介して管理コンピュータ５に設けられた携帯端末制御部１１に接続され、この携帯端末制御部１１にて管理コンピュータ５やそのデータ管理部６や運用制御部７との間で指令信号やデータのやりとりを行うように構成されている。
【００２１】
次に、以上の構成において、携帯端末９によって各種指令を発する操作とその動作について説明する。まず、携帯端末９を無人搬送車１に対する操作モードにすると、図２に示すように、無人搬送車による搬送の指示（１：搬送指示）と、無人搬送車の動作状態の確認（２：ＡＧＶ状態表示）と、処理されていない要求状態の確認（３：要求状態表示）の選択画面が表示され、作業者が何れかを選択する。
【００２２】
搬送指示を選択すると、図３（ａ）に示すように、搬送元と搬送先の入力画面が表示され、それぞれ入力すると、搬送元（ＦＲＯＭ：１ＦＳＴ０１（１階の第１ステーション））と搬送先（ＴＯ：３ＦＳＴ０３（３階の第３ステーション））が表示されて確認が求められ、確認すると、その搬送指令データが携帯端末９から無線で携帯端末用基地局１０に出力される。携帯端末用基地局１０が搬送指令データを受信すると、携帯端末用基地局１０の指令によりデータベース６から運行制御部７に向けて搬送指令データに対応する運行データが出力され、運行制御部７が運行データに基づいて走行指令をＡＧＶ用無線親局８を介して無人搬送車１に出力し、無人搬送車１がその指令信号に基づいて搬送元から搬送先まで走行し、物品を搬送する。また、その搬送動作中、その動作状態が検知されて無人搬送車１から運行制御部７に出力され、動作状態がチェックされている。したがって、作業者が何時でも何処でも携帯端末９から無人搬送車１に対する搬送指令を出すことができるので、作業性が向上する。
【００２３】
また、無人搬送車の動作状態の確認を選択すると、図３（ｂ）に示すように、どの無人搬送車１であるかを特定するＮｏ．の入力が指示され、入力すると、携帯端末９にてその無人搬送車１の動作状態の確認指令が携帯端末制御部１１に出力され、携帯端末制御部１１が運行制御部７から動作状態のデータを読み出し、その読み出しデータが携帯端末９に表示される。したがって、作業者が何時でも何処でも任意の無人搬送車１の現在の動作状態を手元で知ることができる。
【００２４】
また、処理されていない要求状態の確認を選択すると、携帯端末９から携帯端末制御部１１にその確認指令が出力され、携帯端末制御部１１がデータ管理部６から未処理状態のデータを読み出し、図３（ｃ）に示すように、携帯端末９に未処理の搬送要求が古いものから順次表示される。したがって、作業者が何時でも何処でも現在の要求状態を手元で知ることができる。
【００２５】
また、無人搬送車１にトラブルが発生した場合には、運行制御部７から携帯端末制御部１１にトラブル発生の事実とそのデータが出力され、図３（ｄ）に示すように、携帯端末９に表示される。したがって、作業者が何処にいても無人搬送車１のトラブル発生を直ちに知ることができ、さらにリセット操作で解消できるような簡単なトラブルの場合にはその場でトラブルを解消することができ、使い勝手が良く、作業能率が向上する。
【００２６】
以上のように本実施形態によれば、作業者が何処にいてもその場で、携帯端末９から無人搬送車１に対する搬送指令、動作状態の確認、処理されていない要求状態の確認などの各種操作、及びトラブル発生の認知を行うことができるので、作業能率を大幅に向上できる。また、操作ターミナルを各所に設置して配線する必要がないので、無人搬送車１の走行範囲が広い場合などに、特に設備コストの低廉化を図ることができる。
【００２７】
また、運行制御部７が、無人搬送車１の搬送動作終了後原点位置に復帰させることなく、次の搬送指示を実行するように構成されているので、無人搬送車１の稼働効率が向上する。
【００２８】
さらに、必要に応じて、携帯端末９に、搬送する物品に設けられたバーコード、２次元バーコード、無線ＩＣタグ等の識別被読取部を読み取る読取手段（図示せず）を設け、その読取データを携帯端末９から携帯端末制御部１１に送信することで運行管理コンピュータ５がデータ管理部６を参照して無人搬送車１の搬送先を運行制御部７に指示するように構成することもでき、そうすると入力操作を簡便にできて、一層作業能率を向上できる。
【００２９】
なお、ＡＧＶ用無線親局８と無人搬送車１との間の通信は光通信であっても構わない。
【００３０】
更に、ＡＧＶ用無線親局８と携帯端末用基地局１０とは１つの無線機を共用するものであっても構わない。
【００３１】
【発明の効果】
本発明の無人搬送車の運用システムによれば、無人搬送車に対する指令操作用の携帯端末を設け、携帯端末と無線でデータの送受信を行うとともに運行制御部との間でデータのやりとりを行う携帯端末制御部を運行管理コンピュータに設けたので、作業者が何処にいてもその場で携帯端末から無人搬送車に対する搬送指令などの各種操作を行うことができ、作業能率を大幅に向上でき、かつ操作ターミナルを各所に設置して配線する必要がないので、無人搬送車の走行範囲が広い場合などに、特に設備コストの低廉化を図ることができる。
【図面の簡単な説明】
【図１】本発明の無人搬送の運用システムの一実施形態の構成図である。
【図２】同実施形態における携帯端末による操作時の初期画面の説明図である。
【図３】同実施形態の携帯端末における操作時の画面表示を示し、（ａ）は搬送指示時の状態の説明図、（ｂ）は動作状態の説明図、（ｃ）は搬送要求状態確認時の説明図、（ｄ）はトラブル発生時の説明図である。
【符号の説明】
１ 無人搬送車
２ 非軌道走行ライン
５ 管理コンピュータ
６ データベース（データ管理部）
７ 運行制御部
８ ＡＧＶ用無線親局
９ 携帯端末
１０ 携帯端末用基地局
１１ 携帯端末制御部[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic guided vehicle operation system, an operation management computer, and an operation control method.
[0002]
[Prior art]
The operation system of the conventional automatic guided vehicle is configured such that a non-track traveling line that defines the traveling route of the automatic guided vehicle is arranged along a desired route, and the traveling output from the operation management computer that controls the traveling of the automatic guided vehicle. The control data is wirelessly transmitted from the wireless master station to the automatic guided vehicle, and the traveling of the automatic guided vehicle is controlled. When a worker issues a traveling command to the automatic guided vehicle, the driving command is input to the operation management computer directly from the input unit of the operation management computer, or provided at an appropriate place in the work place and the operation management computer is provided. (See, for example, Patent Document 1).
[0003]
[Patent Document 1]
JP-A-11-327644
[Problems to be solved by the invention]
However, in the operation system of the conventional automatic guided vehicle described above, when carrying by the automatic guided vehicle, there is a problem that a worker has to go to an installation location of the operation terminal and operate, and the workability is poor. . In addition, since the operation terminal and the management computer are connected by signal lines, if the traveling range of the automatic guided vehicle is wide, wiring work to the operation terminals located in various places becomes large, and equipment costs However, if the transfer range of the automatic guided vehicle is to be expanded, a large-scale operation is required.
[0005]
Although a mobile terminal using wireless communication is known, in an input / output management system or the like, an operator inputs / outputs input / output data from / to a management computer at a site. It is limited and is not configured as an operation terminal that issues an operation command or the like, and cannot be applied as it is to solve the above problem.
[0006]
In view of the above-mentioned conventional problems, the present invention can perform various operations such as a transfer command for an unmanned guided vehicle on the spot, regardless of where the worker is, thereby improving workability and reducing equipment costs. It is an object of the present invention to provide an automatic guided vehicle operation system, operation management computer, and operation control method that can be achieved.
[0007]
[Means for Solving the Problems]
The operation system of an automatic guided vehicle of the present invention includes an automatic guided vehicle that can automatically travel, an operation control computer that has an operation control unit that wirelessly controls the operation of the automatic guided vehicle, and a data management unit that manages the operation data. A mobile terminal control unit that provides a mobile terminal for command operation for the automatic guided vehicle, transmits and receives data to and from the mobile terminal wirelessly, and exchanges data with the operation control unit. Is provided in the operation management computer.
[0008]
According to this configuration, the operator can perform various operations such as a transfer command to the automatic guided vehicle from the portable terminal at any place, wherever the worker is located, greatly improving work efficiency, and installing operation terminals at various locations. Since there is no need for wiring, the cost of equipment can be reduced particularly when the traveling range of the automatic guided vehicle is wide.
[0009]
In addition, when the mobile terminal outputs a transport command to the unmanned transport vehicle to the mobile terminal control unit, the data management unit outputs the operation data to the operation control unit according to the instruction of the mobile terminal control unit. However, it is possible to issue a transfer command to the automatic guided vehicle anywhere, which is convenient and improves workability.
[0010]
In addition, the operation control unit collects data on the operation state of the automatic guided vehicle, and when the mobile terminal outputs confirmation of the operation state of the automatic guided vehicle to the mobile terminal control unit, the mobile terminal control unit transmits the data from the operation control unit. If the operation state data is read out and displayed on the mobile terminal, the operator can know the current operation state at any time and at any place, which is convenient.
[0011]
Further, the data management unit manages the request data to the automatic guided vehicle and the processing state thereof. When the mobile terminal outputs a confirmation of the request state not processed by the automatic guided vehicle to the mobile terminal control unit, the mobile terminal If the control unit is configured to read the unprocessed data from the data management unit and display the data on the portable terminal, the operator can know the current request state at any time and at any place, which is convenient.
[0012]
In addition, if a problem occurs in the automatic guided vehicle, the fact that the problem has occurred and its data are output from the operation control unit to the portable terminal control unit and displayed on the portable terminal, so that the trouble can occur no matter where the operator is. Can be immediately known, and in the case of a simple trouble that can be solved by a reset operation, the trouble can be solved on the spot, so that the usability is good and the work efficiency is improved.
[0013]
Further, when the operation control unit is configured to execute the next transfer instruction without returning to the origin position when the automatic guided vehicle ends the transfer operation, the operation efficiency of the automatic guided vehicle is improved.
[0014]
Also, the portable terminal is provided with reading means for reading the identified read portion provided on the article to be conveyed, and the operation management computer refers to the data management unit by transmitting the read data from the portable terminal to the portable terminal control unit. If the destination of the automatic guided vehicle is instructed to the operation control unit, the input operation can be simplified, and the work efficiency can be further improved.
[0015]
Further, the operation management computer of the automatic guided vehicle of the present invention includes an operation control unit that wirelessly controls the automatic traveling of the automatic guided vehicle, a data management unit that manages the operation data, and a command operation for the automatic guided vehicle. And a mobile terminal control unit that exchanges data with the operation control unit while transmitting and receiving data wirelessly to and from the mobile terminal. Can play.
[0016]
Also, the operation control method of the automatic guided vehicle according to the present invention wirelessly transmits and receives data relating to the operation of the automatic guided vehicle between the mobile terminal and the mobile terminal control unit, and operates the mobile terminal control unit and the operation data of the automatic guided vehicle. Data is exchanged between a data management unit that manages the operation of the automatic guided vehicle and an operation control unit that controls the operation of the automatic guided vehicle, and the operation control unit wirelessly controls the operation of the automatic guided vehicle. Can be.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an operation system of an automatic guided vehicle according to an embodiment of the present invention will be described with reference to FIGS.
[0018]
In FIG. 1, reference numeral 1 denotes an automatic guided vehicle, which is configured to be able to automatically travel along a non-track traveling line 2. Reference numeral 3 denotes various stations provided on the traveling line 2 for exchanging articles conveyed by the automatic guided vehicle 1. Reference numeral 4 denotes an automatic charger for charging the automatic guided vehicle 1.
[0019]
Reference numeral 5 denotes a management computer which stores various data including operation data for operating the automatic guided vehicle 1 in a database (data management unit) 6 based on a predetermined program, and refers to the stored data to perform unmanned transportation. The vehicle 1 is configured to perform operation control and operation management. An operation control unit 7 that outputs a specific operation command signal to the automatic guided vehicle 1 based on various operation commands is provided in the management computer 5, and the command signal is converted into a radio signal by the AGV radio base station 8. The automatic guided vehicle 1 is converted and output and operates based on the radio signal received by the automatic guided vehicle 1, so that the automatic guided vehicle 1 travels to a predetermined position, and the mounted articles are transferred at the predetermined position. In addition, a detection signal of the operation state is input to the operation control unit 7 via the AGV wireless base station 8, and proper operation is ensured. The operation control unit 7 is configured to execute the next transfer instruction without returning to the origin position when the automatic guided vehicle 1 ends the transfer operation.
[0020]
A mobile terminal 9 is provided to allow the worker to carry out an operation of inputting an operation command to the automatic guided vehicle 1 or an instruction for confirming an operation state or the like to the management computer 5 at an arbitrary place. ing. The mobile terminal 9 is connected to a mobile terminal control unit 11 provided in the management computer 5 via a mobile terminal base station 10 connected wirelessly, and the mobile terminal control unit 11 manages the management computer 5 and its data. It is configured to exchange command signals and data with the unit 6 and the operation control unit 7.
[0021]
Next, the operation of issuing various commands by the mobile terminal 9 and the operation in the above configuration will be described. First, when the mobile terminal 9 is set to the operation mode for the automatic guided vehicle 1, as shown in FIG. 2, a transfer instruction (1: transfer instruction) by the automatic guided vehicle and a confirmation of an operation state of the automatic guided vehicle (2: AGV) A selection screen is displayed for confirmation of the unprocessed request state (3: request state display), and the operator selects one of them.
[0022]
When the transfer instruction is selected, as shown in FIG. 3A, a screen for inputting the transfer source and the transfer destination is displayed. When the input is performed, the transfer source (FROM: 1FST01 (the first station on the first floor)) and the transfer destination are displayed. (TO: 3FST03 (third station on the third floor)) is displayed for confirmation, and when confirmed, the transfer command data is wirelessly output from the portable terminal 9 to the portable terminal base station 10. When the mobile terminal base station 10 receives the transfer command data, the operation data corresponding to the transfer command data is output from the database 6 to the operation control unit 7 by the command of the mobile terminal base station 10, and the operation control unit 7 A travel command is output to the automatic guided vehicle 1 via the AGV wireless master station 8 based on the operation data, and the automatic guided vehicle 1 travels from the transport source to the transport destination based on the command signal to transport the article. Further, during the transfer operation, the operation state is detected and output from the automatic guided vehicle 1 to the operation control unit 7, and the operation state is checked. Therefore, the worker can issue a transfer command to the automatic guided vehicle 1 from the portable terminal 9 anytime and anywhere, thereby improving workability.
[0023]
When the operator selects the check of the operation state of the automatic guided vehicle, as shown in FIG. Is input, the mobile terminal 9 outputs a command for confirming the operation state of the automatic guided vehicle 1 to the mobile terminal control unit 11, and the mobile terminal control unit 11 outputs data of the operation state from the operation control unit 7. And the read data is displayed on the portable terminal 9. Therefore, the operator can know the current operation state of any automatic guided vehicle 1 at any time and at any place.
[0024]
When the confirmation of the request state that has not been processed is selected, the confirmation command is output from the portable terminal 9 to the portable terminal control unit 11, and the portable terminal control unit 11 reads out the unprocessed data from the data management unit 6, As shown in FIG. 3C, the unprocessed transport requests are displayed on the portable terminal 9 sequentially from the oldest one. Therefore, the worker can know the current request state at any time and at any place.
[0025]
Further, when a trouble occurs in the automatic guided vehicle 1, the fact that the trouble has occurred and its data are output from the operation control unit 7 to the portable terminal control unit 11, and as shown in FIG. Will be displayed. Therefore, the operator can immediately know the occurrence of the trouble of the automatic guided vehicle 1 wherever the worker is, and in the case of a simple trouble that can be solved by the reset operation, the trouble can be solved on the spot and the usability is improved. And work efficiency is improved.
[0026]
As described above, according to the present embodiment, wherever a worker is located, various operations such as a transfer command from the mobile terminal 9 to the automatic guided vehicle 1, confirmation of an operation state, and confirmation of a request state that has not been processed are performed. Since operation and recognition of occurrence of trouble can be performed, work efficiency can be greatly improved. Further, since it is not necessary to install and wire the operation terminals in various places, it is possible to reduce the equipment cost particularly when the traveling range of the automatic guided vehicle 1 is wide.
[0027]
In addition, since the operation control unit 7 is configured to execute the next transfer instruction without returning to the origin position after the transfer operation of the automatic guided vehicle 1 is completed, the operation efficiency of the automatic guided vehicle 1 is improved. .
[0028]
Further, if necessary, the portable terminal 9 is provided with a reading means (not shown) for reading an identification read portion such as a barcode, a two-dimensional barcode, or a wireless IC tag provided on the article to be conveyed. By transmitting data from the portable terminal 9 to the portable terminal control unit 11, the operation management computer 5 may refer to the data management unit 6 and instruct the operation control unit 7 on the destination of the automatic guided vehicle 1. Then, the input operation can be simplified, and the work efficiency can be further improved.
[0029]
Communication between the AGV radio base station 8 and the automatic guided vehicle 1 may be optical communication.
[0030]
Further, the AGV radio base station 8 and the portable terminal base station 10 may share one radio.
[0031]
【The invention's effect】
According to the operation system of the automatic guided vehicle of the present invention, a portable terminal for commanding the automatic guided vehicle is provided, and the portable terminal transmits and receives data to and from the portable terminal and exchanges data with the operation control unit. Since the terminal control unit is provided in the operation management computer, various operations such as a transfer command to the automatic guided vehicle can be performed from the mobile terminal on the spot, regardless of where the worker is, thereby greatly improving work efficiency, and Since there is no need to install and wire the operation terminals in various places, it is possible to reduce the equipment cost particularly when the traveling range of the automatic guided vehicle is wide.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an embodiment of an unmanned transport operation system according to the present invention.
FIG. 2 is an explanatory diagram of an initial screen at the time of operation by a mobile terminal in the embodiment.
3A and 3B show screen displays at the time of operation on the mobile terminal of the embodiment, wherein FIG. 3A is an explanatory diagram of a state at the time of a transfer instruction, FIG. 3B is an explanatory diagram of an operation state, and FIG. FIG. 7D is an explanatory diagram at the time of occurrence of a trouble.
[Explanation of symbols]
1 automatic guided vehicle 2 non-track running line 5 management computer 6 database (data management section)
7 operation control unit 8 radio base station for AGV 9 portable terminal 10 portable terminal base station 11 portable terminal control unit

Claims (9)

自動走行可能な無人搬送車と、無人搬送車を無線で運行制御する運行制御部とその運行データを管理するデータ管理部とを有する運行管理コンピュータとを備えた無人搬送車の運用システムにおいて、無人搬送車に対する指令操作用の携帯端末を設け、携帯端末と無線でデータの送受信を行うとともに運行制御部との間でデータのやりとりを行う携帯端末制御部を運行管理コンピュータに設けたことを特徴とする無人搬送車の運用システム。An unmanned guided vehicle operation system including an unmanned guided vehicle capable of automatically traveling, an operation control unit that wirelessly controls the operation of the unmanned guided vehicle, and an operation management computer including a data management unit that manages the operation data, includes an unmanned guided vehicle. A mobile terminal for command operation for the carrier is provided, and a mobile terminal control unit for transmitting and receiving data wirelessly to and from the operation control unit is provided in the operation management computer. Automatic guided vehicle operation system. 携帯端末にて無人搬送車に対する搬送指令を携帯端末制御部に出力すると、携帯端末制御部の指令によりデータ管理部から運行制御部に運行データを出力することを特徴とする請求項１記載の無人搬送車の運用システム。2. The unmanned transport vehicle according to claim 1, wherein when the mobile terminal outputs a transfer command to the unmanned transport vehicle to the mobile terminal control unit, the data management unit outputs the operation data to the operation control unit according to the command of the mobile terminal control unit. Operation system for transport vehicles. 運行制御部は無人搬送車の動作状態のデータを収集しており、携帯端末にて無人搬送車の動作状態の確認を携帯端末制御部に出力すると、携帯端末制御部が運行制御部から動作状態のデータを読み出して携帯端末に表示することを特徴とする請求項１記載の無人搬送車の運用システム。The operation control unit collects data on the operation state of the automatic guided vehicle, and when the mobile terminal outputs a confirmation of the operation state of the automatic guided vehicle to the mobile terminal control unit, the mobile terminal control unit receives the operation state from the operation control unit. 2. The operation system of an automatic guided vehicle according to claim 1, wherein said data is read out and displayed on a portable terminal. データ管理部は無人搬送車への要求データとその処理状態を管理しており、携帯端末にて無人搬送車で処理されていない要求状態の確認を携帯端末制御部に出力すると、携帯端末制御部がデータ管理部から未処理状態のデータを読み出して携帯端末に表示することを特徴とする請求項１記載の無人搬送車の運用システム。The data management unit manages the request data to the automatic guided vehicle and the processing state thereof, and when the mobile terminal outputs a confirmation of the request status not processed by the automatic guided vehicle to the mobile terminal control unit, the mobile terminal control unit 2. The operation system of an automatic guided vehicle according to claim 1, wherein the device reads data in an unprocessed state from the data management unit and displays the data on a portable terminal. 無人搬送車にトラブルが発生すると、運行制御部から携帯端末制御部にトラブル発生の事実とそのデータが出力され、携帯端末に表示することを特徴とする請求項１記載の無人搬送車の運用システム。2. The operation system according to claim 1, wherein when a trouble occurs in the automatic guided vehicle, the fact that the trouble has occurred and its data are output from the operation control unit to the portable terminal control unit and displayed on the portable terminal. . 運行制御部は、無人搬送車が搬送動作を終了すると、原点位置に復帰させることなく、次の搬送指示を実行させることを特徴とする請求項１記載の無人搬送車の運用システム。2. The operation system of an automatic guided vehicle according to claim 1, wherein the operation control unit executes the next transport instruction without returning to the origin position when the automatic guided vehicle has completed the transport operation. 携帯端末に、搬送する物品に設けられた識別被読取部を読み取る読取手段を設け、携帯端末から読取データを携帯端末制御部に送信することで運行管理コンピュータがデータ管理部を参照して無人搬送車の搬送先を運行制御部に指示することを特徴とする請求項１記載の無人搬送車の運用システム。The portable terminal is provided with a reading means for reading the identified read portion provided on the article to be conveyed, and the operation management computer refers to the data management unit to perform unmanned conveyance by transmitting the read data from the portable terminal to the portable terminal control unit. 2. The operation system for an automatic guided vehicle according to claim 1, wherein a destination of the vehicle is instructed to an operation control unit. 自動走行可能な無人搬送車を無線で運行制御する運行制御部と、その運行データを管理するデータ管理部と、無人搬送車に対する指令操作用の携帯端末と無線でデータの送受信を行うとともに運行制御部との間でデータのやりとりを行う携帯端末制御部とを備えたことを特徴とする無人搬送車の運用管理コンピュータ。An operation control unit that wirelessly controls the automatic guided vehicle that can travel automatically, a data management unit that manages the operation data, and a wireless terminal that transmits and receives data wirelessly to and from a portable terminal for commanding the automatic guided vehicle. And a portable terminal control unit for exchanging data with the unit. 携帯端末と携帯端末制御部との間で無人搬送車の動作に関するデータの送受信を無線で行い、携帯端末制御部と無人搬送車の運行データを管理するデータ管理部と無人搬送車を運行制御する運行制御部との間でデータのやりとりを行い、運行制御部にて無線で無人搬送車を運行制御することを特徴とする無人搬送車の運用制御方法。Data transmission / reception of the operation of the automatic guided vehicle between the mobile terminal and the mobile terminal control unit is wirelessly performed, and the data management unit that manages the operation data of the mobile terminal control unit and the automatic guided vehicle and the operation control of the automatic guided vehicle are performed. An operation control method for an automatic guided vehicle, wherein data is exchanged with an operation control unit, and the operation control unit wirelessly controls the operation of the automatic guided vehicle.
JP2003073307A 2003-03-18 2003-03-18 Operating system for automatic guided vehicle, operation management computer, and operation control method Pending JP2004280646A (en)

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